version: 66.04
glider: 166
mission: 1
dive: 20
start: 3 5 109 12 23 42
data:
$ID,166
$MISSION,1
$DIVE,20
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,67
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4619.6816
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2646
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.361515
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,121134,4807.623,-12224.121,11,2.2,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.3
$GPS2,122249,4807.520,-12224.070,12,1.3,30,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,0.192
$KALMAN_X,3774.3,-145.1,-150.4,-4607.1,126.7
$KALMAN_Y,-561.8,-357.1,104.8,-61.1,-324.0
$MHEAD_RNG_PITCHd_Wd,329.9,894,-16.6,-7.463
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-97.8,0.0,0.0,0,111,0.00,0.00,-94.45,0.000,2,0.000,0.000,138,2047,3198
$GC,113,-0.64,-97.8,3.1,-5.1,16,150,10.60,0.00,-20.33,0.000,6,0.298,0.000,2433,2047,3820
$GC,219,-0.64,-97.8,10.6,-7.5,34,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2047,3821
$GC,291,-0.64,-97.8,16.7,-8.2,47,298,0.00,2.25,0.00,0.000,4,0.000,0.068,2435,3459,3821
$GC,359,-0.64,-97.8,22.5,-8.8,59,365,0.00,2.15,0.00,0.000,6,0.000,0.044,2433,2044,3821
$GC,434,-0.64,-97.8,29.1,-8.8,72,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2044,3821
$GC,507,-0.64,-97.8,36.4,-10.0,85,513,0.00,2.17,0.00,0.000,4,0.000,0.058,2432,638,3821
$GC,535,-0.64,-97.8,39.5,-10.9,90,541,0.00,2.20,0.00,0.000,6,0.000,0.055,2437,2055,3820
$GC,608,-0.64,-97.8,47.8,-11.0,103,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2055,3820
$GC,748,-0.64,-97.8,61.1,-8.0,128,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2055,3820
$GC,888,-0.64,-97.8,71.5,-7.6,153,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2055,3820
$GC,1028,-0.64,-97.8,82.6,-8.0,178,1035,0.00,2.17,0.00,0.000,4,0.000,0.057,2432,644,3820
$GC,1113,-0.64,-97.8,89.6,-8.6,193,1119,0.00,2.17,0.00,0.000,6,0.000,0.055,2435,2051,3820
$STATE,1252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1252,begin apogee
$GC,1256,-0.16,0.0,100.2,7.6,218,1336,0.50,0.00,76.25,0.895,6,0.161,0.000,2586,2255,3420
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1338,0.64,97.8,101.7,0.0,232,1423,0.77,0.00,78.03,0.859,6,0.104,0.000,2844,2254,3021
$GC,1558,0.64,97.8,79.3,12.5,271,1564,0.00,2.25,0.00,0.000,4,0.000,0.061,2857,843,3019
$GC,1597,0.64,97.8,74.4,12.4,278,1604,0.00,2.28,0.00,0.000,6,0.000,0.054,2856,2247,3019
$GC,1738,0.64,97.8,57.5,12.2,303,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2247,3018
$GC,1877,0.64,97.8,40.7,12.0,328,1884,0.00,2.22,0.00,0.000,4,0.000,0.054,2867,845,3018
$GC,1917,0.64,97.8,36.0,11.9,335,1924,0.00,2.20,0.00,0.000,6,0.000,0.056,2866,2253,3019
$GC,1992,0.64,97.8,26.2,14.1,348,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2253,3018
$GC,2065,0.64,97.8,15.3,14.2,361,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2253,3018
$GC,2139,0.64,97.8,7.1,9.4,374,2146,0.00,2.20,0.00,0.000,4,0.000,0.055,2877,838,3018
$STATE,2168,end climb,SURFACE_DEPTH_REACHED
$STATE,2168,begin surface coast
$FINISH,4.7,1.020456
$STATE,2219,end surface coast,CONTROL_FINISHED_OK
$STATE,2219,begin surface
$SM_CCo,2235,323.77,0.782,4,0,1380,500.17
$SM_GC,1.11,0.00,0.00,323.77,0.000,0.000,0.782,155,2063,1380,-7.76,0.37,500.17
$IRIDIUM_FIX,4748.51,-12221.84,300598,121222
$TT8_MAMPS,0.027612
$HUMID,1370
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,16.90
$XPDR_PINGS,22
$24V_AH,24.1,2.778
$10V_AH,10.7,0.929
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.775,26.525,154.275,323.775,0.000,75.036,154.102,231.341,5.500,0.000,0.000,30.177,603.023,819.034,612.106,720.398,517.055,33.324,989.296,0.000,705.827,0.000,1.136,0.000
$DEVICE_MAMPS,297.596,72.098,895.089,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,261.393,274.182,462.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22330,388
$CAP_FILE_SIZE,45599,0
$CFSIZE,260165632,257855488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,050309,130726,4807.631,-12224.070,13,1.3,13,18.3